Vehicle Control Apparatus, Vehicle Control Method, and Preceding Vehicle Following System
The present invention provides a vehicle control apparatus, a vehicle control method, and an preceding vehicle following system that allow a following vehicle to run while following behind a preceding vehicle even when a constraint is imposed on the following vehicle. A vehicle control apparatus is configured to be mounted on a preceding vehicle in a preceding vehicle following system that performs follow control by non-mechanically connecting the preceding vehicle and a following vehicle. The vehicle control apparatus is configured to output an instruction for restricting a motion state of the preceding vehicle based on input information regarding a vehicle performance of the following vehicle.
The present invention relates to a preceding vehicle following system that allows a following vehicle to run while following behind a preceding vehicle.
BACKGROUND ARTFor example, there is PTL 1 as the background technique in the technical field relating to autonomous running control of a following vehicle that runs while following behind a preceding vehicle by being electronically connected to the preceding vehicle. PTL 1 discloses that the following vehicle receives information indicating a running state such as a vehicle speed and an acceleration, information indicating an operation amount such as a throttle position, a steering angle, and a brake operation amount, and information indicating the vehicle specifications such as a vehicle weight and an engine output characteristic with respect to the preceding vehicle, thereby allowing the follow control to be performed based on a similar operation to an operation provided to the preceding vehicle without waiting for a change in the running state that is a result of the control on the preceding vehicle.
CITATION LIST Patent Literature[PTL 1] Japanese Patent Application Public Disclosure No. H5-170008
SUMMARY OF INVENTION Technical ProblemHowever, PTL 1 fails to take into consideration such a situation that a motion state of the following vehicle is subjected to a constraint imposed so as to make it impossible for the following vehicle to follow behind the preceding vehicle, such as when the following vehicle slips and when there is a difference in performance between the preceding vehicle and the following vehicle.
Solution to ProblemIn consideration of the above-described problem, one of objects of the present invention is to provide a vehicle control apparatus, a vehicle control method, and a preceding vehicle following system that allow the following vehicle to run while following behind the preceding vehicle even when the constraint is imposed on the following vehicle.
One aspect of the present invention is a vehicle control apparatus configured to be mounted on a preceding vehicle in a preceding vehicle following system that performs follow control by non-mechanically connecting the preceding vehicle and a following vehicle. The vehicle control apparatus is configured to output an instruction for restricting a motion state of the preceding vehicle based on input information regarding a vehicle performance of the following vehicle.
According to the one aspect of the present invention, it is possible to provide the vehicle control apparatus, the vehicle control method, and the preceding vehicle following system that allow the following vehicle to run while following behind the preceding vehicle even when the constraint is imposed on the following vehicle.
In the following description, embodiments of the present invention will be described in detail with reference to the drawings.
First EmbodimentA preceding vehicle following system based on which the present embodiment is constructed includes a preceding vehicle and a following vehicle running while non-mechanically following behind the preceding vehicle. The following vehicle is a vehicle equipped with a distance sensor that measures a distance to the preceding vehicle, an inter-vehicle communication apparatus that communicates with the preceding vehicle, and the like, and configured to run while following behind the preceding vehicle by being electronically connected to the preceding vehicle. The following vehicle automatically follows behind the preceding vehicle while maintaining a constant distance to the preceding vehicle along exactly the same trajectory as the preceding vehicle.
Now, when the following vehicle slips on a slippery road surface such as a snowy road, this may make it impossible for the following vehicle to run while always maintaining the constant distance to the preceding vehicle, because the distance between the following vehicle and the preceding vehicle reduces if this slip occurs during braking or increases if this slip occurs during driving.
Therefore, the present embodiment will be described below regarding a system that transmits a restriction value for preventing a tire force of the following vehicle from being saturated from the following vehicle to the preceding vehicle, and controls the preceding vehicle.
Referring to
Further, the preceding vehicle 1 includes a reception apparatus 8, a maximum G calculation portion 9, a margin setting portion 10, a limiter 11, an actuator control portion 12, and a brake 13. The reception apparatus 8 receives the estimated p value transmitted from the following vehicle 2. The maximum G calculation portion 9 calculates a maximum acceleration (G) or a maximum braking force based on the estimated p value. The margin setting portion 10 functions to provide a margin when calculating the maximum acceleration or the maximum braking force by the maximum G calculation portion 9. The limiter 11 imposes a limitation on the maximum acceleration or the maximum braking force from the maximum G calculation portion 9 according to a brake operation performed by a driver or autonomous driving. The actuator control portion 12 calculates and outputs an instruction value for a brake hydraulic pressure, which is an amount of controlling the brake 13, according to an instruction for a longitudinal acceleration of the vehicle from the limiter 11. The brake 13 is controlled by the actuator control portion 12.
First, this preceding vehicle following system will be described focusing on the timing chart when the control according to the present embodiment is not performed illustrated in
Next, the present preceding vehicle following system will be described focusing on the timing chart when the control according to the present embodiment is performed illustrated in
In this manner, the restriction is imposed on the preceding vehicle automatically based on the constraint on the braking of the following vehicle, and therefore the following vehicle can run while further appropriately following behind the preceding vehicle.
In
First, this preceding vehicle following system will be described focusing on the timing chart when the control according to the present embodiment is not performed illustrated in
Next, the preceding vehicle following system will be described focusing on the timing chart when the control according to the present embodiment is performed illustrated in
In this manner, the restriction is imposed on the preceding vehicle automatically based on the constraint on the driving of the following vehicle, and therefore the following vehicle can run while further appropriately following behind the preceding vehicle.
When the following vehicle slips while being steered in the vehicle follow control on the way of a curve, if the preceding vehicle runs at the same speed as before, the following vehicle would attempt to run at the same speed and therefore might undesirably slide off the course. Therefore, when the following vehicle slips while being steered, the preceding vehicle performs control of applying the brake while maintaining the trajectory.
In
Due to this configuration, when the following vehicle is about to slip during the steering operation, the preceding vehicle eases the vehicle speed by limiting the engine, i.e., restricting the driving force or applying the brake. As a result, the following vehicle can run while following behind the preceding vehicle without slipping.
In this manner, the restriction is imposed on the preceding vehicle automatically based on the constraint on the steering of the following vehicle, and therefore the following vehicle can run while further appropriately following behind the preceding vehicle.
In this manner, according to the present embodiment, the preceding vehicle outputs the instruction for restricting the motion state of the braking, the driving, or the steering to impose the restriction on the motion state of the preceding vehicle according to the information regarding the vehicle performance that is the braking/driving/steering performance of the following vehicle in the running state, thereby allowing the following vehicle to further appropriately follow behind the preceding vehicle even when being subjected to the constraint.
The present embodiment has been described assuming that the preceding vehicle restricts the motion state of the braking, the driving, or the steering by transmitting the acceleration instruction to the actuator control portion in the above description, but the preceding vehicle may output an output instruction that is a notification using a warning sound or a warning lamp to cause the driver of the preceding vehicle to restrict the motion state of the preceding vehicle based on this output instruction. In this case, the driver sets the restriction on the preceding vehicle based on the constraint on the following vehicle, thereby being able to recognize that the restriction is imposed.
Second EmbodimentThe present embodiment will be described regarding a preceding vehicle following system that controls the preceding vehicle to maintain ride comfort on the following vehicle and abide by a running rule of the following vehicle.
In
In
Further,
In this manner, in the present embodiment, the preceding vehicle following system allows the following vehicle to follow behind the preceding vehicle while maintaining the ride comfort thereon. Further, even when a reference value such as the lateral G of the following vehicle increases because the following vehicle follows behind the preceding vehicle, the preceding vehicle following system allows the following vehicle to follow behind the preceding vehicle within the reference value by imposing the restriction on the preceding vehicle.
Further, in
In
In
Further,
In this manner, the following vehicle has the plurality of running modes, and the preceding vehicle following system allows the following vehicle to run in the desired running mode with the aid of the vehicle follow control by controlling the preceding vehicle according to the selected running mode.
In this manner, according to the present embodiment, the preceding vehicle following system allows the following vehicle to further appropriately follow behind the preceding vehicle by controlling the preceding vehicle to maintain the ride comfort on the following vehicle and abide by the running rule of the following vehicle.
Third EmbodimentThe present embodiment will be described regarding an preceding vehicle following system that controls the vehicle performance of the preceding vehicle in such a manner that it matches the vehicle specifications of the following vehicle. The vehicle specifications refer to, for example, a minimum rotational radius (R) under the vehicle standard, the engine performance, and the brake performance.
For example, in a case where the following vehicle is a vehicle larger than the preceding vehicle and has a larger minimum rotational radius than the preceding vehicle, if the preceding vehicle runs with a smaller minimum rotational radius than the following vehicle, the following vehicle cannot run along the trajectory along which the preceding vehicle runs, ending up undesirably running outside the trajectory of the preceding vehicle. Therefore, in the present embodiment, the preceding vehicle following system restricts the steering angle of the preceding vehicle, thereby ensuring that the following vehicle can follow behind the preceding vehicle.
Further,
In this manner, the preceding vehicle following system allows the following vehicle to follow the trajectory along which the preceding vehicle runs even when the following vehicle is a large-size vehicle and the preceding vehicle is a small-size vehicle capable of turning in a small radius, by restricting the steering angle of the preceding vehicle in such a manner that it matches the minimum rotational radius of the following vehicle.
The present embodiment will be further described regarding an example when there is a difference between the preceding vehicle and the following vehicle in terms of the engine performance among the vehicle specifications.
In
First, this preceding vehicle following system will be described focusing on the timing chart when the control according to the present embodiment is not performed illustrated in
Next, the present preceding vehicle following system will be described focusing on the timing chart when the control according to the present embodiment is performed illustrated in
The preset embodiment can provide the preceding vehicle following system that allows the following vehicle to follow behind the preceding vehicle even when the following vehicle has a lower acceleration performance than the preceding vehicle, such as being late in raising the acceleration and being low in maximum acceleration, by restricting the acceleration when the preceding vehicle speeds up.
Next, the present embodiment will be further described regarding an example when there is a difference between the preceding vehicle and the following vehicle in terms of the brake performance among the vehicle specifications.
First, this preceding vehicle following system will be described focusing on the timing chart when the control according to the present embodiment is not performed illustrated in
Next, the present preceding vehicle following system will be described focusing on the timing chart when the control according to the present embodiment is performed illustrated in
In this manner, the present embodiment can provide the preceding vehicle following system that allows the following vehicle to follow behind the preceding vehicle even when the following vehicle requires a longer distance for the braking than the preceding vehicle by easing the rise of the deceleration/acceleration of the preceding vehicle to allow the following vehicle to also stop concurrently therewith.
In this manner, according to the present embodiment, the preceding vehicle following system allows the following vehicle to further appropriately follow behind the preceding vehicle by imposing the restriction on the preceding vehicle according to the vehicle specifications of the following vehicle.
Having described the embodiments, the present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to facilitate a better understanding of the present invention, and the present invention is not necessarily limited to the configuration including all of the described features. Further, a part of the configuration of some embodiment can be replaced with the configuration of another embodiment, and some embodiment can also be implemented with a configuration of another embodiment added to the configuration of this embodiment. Further, each embodiment can also be implemented with another configuration added, deleted, or replaced with respect to a part of the configuration of this embodiment.
The present application claims priority under the Paris Convention to Japanese Patent Application No. 2018-46239 filed on Mar. 14, 2018. The entire disclosure of Japanese Patent Application No. 2018-46239 filed on Mar. 14, 2018 including the specification, the claims, the drawings, and the abstract is incorporated herein by reference in its entirety.
REFERENCE SIGNS LIST
- 1: preceding vehicle
- 2: following vehicle
- 3: p estimation portion
- 4: transmission apparatus
- 5: preceding vehicle distance sensor
- 6, 12: actuator control portion
- 7, 13: brake
- 8: reception apparatus
- 9: maximum G calculation portion
- 10: margin setting portion
- 11: limiter
- 14, 15: engine/motor
- 16: preceding vehicle control portion
- 17: urban area/mountain road determination apparatus
- 18: running mode determination portion
- 19: steering
- 20: steering angle calculation portion
- 21: following vehicle maximum acceleration calculation portion
- 22: following vehicle brake response delay handling portion
Claims
1. A vehicle control apparatus configured to be mounted on a preceding vehicle in a preceding vehicle following system that performs follow control by non-mechanically connecting the preceding vehicle and a following vehicle,
- wherein the vehicle control apparatus outputs an instruction for restricting a motion state of the preceding vehicle to the preceding vehicle based on information regarding an input vehicle performance of the following vehicle.
2. The vehicle control apparatus according to claim 1, wherein the output instruction for restricting the motion state of the preceding vehicle is input to an actuator regarding braking, driving, or steering of the preceding vehicle.
3. The vehicle control apparatus according to claim 2, wherein the vehicle performance is a maximum acceleration of the following vehicle that is determined based on a frictional coefficient of a road surface where a wheel of the following vehicle contacts the ground, the frictional coefficient being acquired by a road surface state acquisition portion mounted on the following vehicle.
4. The vehicle control apparatus according to claim 3, wherein the actuator includes a braking actuator regarding the braking, and
- wherein, when the preceding vehicle and the following vehicle are in a braking state, an instruction for reducing a braking force is output to the braking actuator based on the maximum acceleration of the following vehicle, the maximum acceleration being determined based on the frictional coefficient on the road surface where the wheel of the following vehicle contacts the ground.
5. The vehicle control apparatus according to claim 3, wherein the actuator includes a driving actuator regarding the driving, and
- wherein, when the preceding vehicle and the following vehicle are in a driving state, an instruction for reducing a driving force is output to the driving actuator based on the maximum acceleration of the following vehicle, the maximum acceleration being determined based on the frictional coefficient on the road surface where the wheel of the following vehicle contacts the ground.
6. The vehicle control apparatus according to claim 3, wherein the actuator includes a braking actuator regarding the braking and a driving actuator regarding the driving, and
- wherein, when the preceding vehicle and the following vehicle are in a curve running state, an instruction for reducing a driving force is output to the driving actuator or an instruction for enhancing a braking force is output to the braking actuator based on the maximum acceleration of the following vehicle, the maximum acceleration being determined based on the frictional coefficient on the road surface where the wheel of the following vehicle contacts the ground.
7. The vehicle control apparatus according to claim 2, wherein the vehicle performance is a maximum acceleration of the following vehicle, the maximum acceleration being determined based on information regarding a map that is acquired by the following vehicle.
8. The vehicle control apparatus according to claim 7, wherein the actuator includes a braking actuator regarding the braking and a driving actuator regarding the driving, and
- wherein an instruction for restricting a driving force is output to the driving actuator or an instruction for restricting a braking force is output to the braking actuator based on information regarding a geography included in the information regarding the map that is acquired by the following vehicle.
9. The vehicle control apparatus according to claim 7, wherein the actuator includes a braking actuator regarding the braking and a driving actuator regarding the driving, and
- wherein an instruction for restricting a driving force is output to the driving actuator or an instruction for restricting a braking force is output to the braking actuator based on information regarding a running prescribed value included in the information regarding the map that is acquired by the following vehicle.
10. The vehicle control apparatus according to claim 2, wherein the vehicle performance is vehicle specifications of the following vehicle.
11. The vehicle control apparatus according to claim 10, wherein the actuator includes a steering actuator regarding the steering, and
- wherein an instruction for restricting a steering angle is output to the steering actuator based on information regarding a minimum rotational radius among the vehicle specifications of the following vehicle.
12. The vehicle control apparatus according to claim 10, wherein the actuator includes a driving actuator regarding the driving, and
- wherein, when the preceding vehicle and the following vehicle are in a driving state, an instruction for restricting a driving force is output to the driving actuator based on information regarding a driving performance among the vehicle specifications of the following vehicle.
13. The vehicle control apparatus according to claim 10, wherein the actuator includes a braking actuator regarding the braking, and
- wherein, when the preceding vehicle and the following vehicle are in a braking state, an instruction for restricting a braking force is output to the braking actuator based on information regarding a braking performance among the vehicle specifications of the following vehicle.
14. The vehicle control apparatus according to claim 1, wherein the output instruction for restricting the motion state of the preceding vehicle is a warning sound or a warning lamp that notifies a driver of the preceding vehicle.
15. The vehicle control apparatus according to claim 2, wherein the actuator includes a braking actuator regarding the braking and a driving actuator regarding the driving, and
- wherein the following vehicle has a plurality of running modes, and the vehicle control apparatus outputs the instruction for restricting the motion state of the preceding vehicle to the preceding vehicle based on the information regarding the vehicle performance of the following vehicle corresponding to a selected running mode among the plurality of running modes.
16. A vehicle control method configured to be performed on a preceding vehicle in a preceding vehicle following system that performs follow control by non-mechanically connecting the preceding vehicle and a following vehicle, the vehicle control method comprising:
- outputting an instruction for restricting a motion state of the preceding vehicle to the preceding vehicle based on information regarding an input vehicle performance of the following vehicle.
17. A preceding vehicle following system configured to perform follow control by non-mechanically connecting a preceding vehicle and a following vehicle,
- wherein the preceding vehicle includes
- an input portion configured to receive an input of information regarding a vehicle performance of the following vehicle,
- an output portion configured to output an instruction for restricting a motion state of the preceding vehicle based on the information regarding the vehicle performance of the following vehicle that is input from the input portion to the output portion, and
- an actuator configured to receive an input of the instruction for restricting the motion state of the preceding vehicle that is output from the output portion, and control braking, driving, or steering of the preceding vehicle.
Type: Application
Filed: Jan 21, 2019
Publication Date: Jan 21, 2021
Inventors: Hiroki SUGAWARA (Sagamihara-shi, Kanagawa), Kentaro UENO (Atsugi-shi, Kanagawa), Hiroshi ITO (Isehara-shi, Kanagawa)
Application Number: 16/979,769